OPT8241-CDK-EVM: Multiple OPT8241 Evaluation Module operation

Hi,

thank you for your replay. The camera work with Voxel Viewer. I have changed the source code. Now i start every camera in an own thread. This solve the problem with the damaged frames. But sometimes i get an error messege like:

---------------------------------------------------------------------------------------------------------

WARNING: USBBulkStramer: Resetting bulk endpoint at 1542179927492660

ERROR: USBIO: Could not transfer  307200 bytes

ERROR: USBIO: Could not transfer  0 bytes

ERROR: USBIO: Could not transfer  0 bytes

WARNING: USBBulkStramer: Resetting bulk endpoint at 154217992883281

….

---------------------------------------------------------------------------------------------------------

At this points i lost up to 20 frames.

Best regards,

Malte

New Source code:

String dumpFileName_1 = "depth1";
String dumpFileName_2 = "depth2";
String dumpFileName_3 = "depth3";

int32_t frameCount_1 = 300;
int32_t frameCount_2 = 300;
int32_t frameCount_3 = 300;

std::ofstream f1(dumpFileName_1, std::ios::binary | std::ios::out);
std::ofstream f2(dumpFileName_2, std::ios::binary | std::ios::out);
std::ofstream f3(dumpFileName_3, std::ios::binary | std::ios::out);

CameraSystem sys;
DepthCameraPtr depthCamera_1, depthCamera_2, depthCamera_3;
const Vector<DevicePtr> &devices = sys.scan();

depthCamera_1 = sys.connect(devices[0]);
depthCamera_2 = sys.connect(devices[1]);
depthCamera_3 = sys.connect(devices[2]);

int count_1 = 0;
int count_2 = 0;
int count_3 = 0;

depthCamera_1->registerCallback(DepthCamera::FRAME_DEPTH_FRAME, [&](DepthCamera &dc, const Frame &frame, DepthCamera::FrameType c) {
		const DepthFrame *d = dynamic_cast<const DepthFrame *>(&frame);
		f1.write((char *)d->depth.data(), sizeof(float)*d->size.width*d->size.height);
		count_1++;
		if (count_1 >= frameCount_1)
		   dc.stop();
	});
	
depthCamera_2->registerCallback(DepthCamera::FRAME_DEPTH_FRAME, [&](DepthCamera &dc, const Frame &frame, DepthCamera::FrameType c) {
		const DepthFrame *d = dynamic_cast<const DepthFrame *>(&frame);
		f2.write((char *)d->depth.data(), sizeof(float)*d->size.width*d->size.height);
		count_2++;
		if (count_2 >= frameCount_2)
		   dc.stop();
	});
	
depthCamera_3->registerCallback(DepthCamera::FRAME_DEPTH_FRAME, [&](DepthCamera &dc, const Frame &frame, DepthCamera::FrameType c) {
		const DepthFrame *d = dynamic_cast<const DepthFrame *>(&frame);
		f3.write((char *)d->depth.data(), sizeof(float)*d->size.width*d->size.height);
		count_3++;
		if (count_3 >= frameCount_3)
		   dc.stop();
	});

std::thread t1([&]{
		depthCamera_1->start();
		depthCamera_1->wait();
	});
	
std::thread t2([&]{
		depthCamera_2->start();
		depthCamera_2->wait();
	});
	
std::thread t3([&]{
		depthCamera_3->start();
		depthCamera_3->wait();
	});
	
t1.join();
t2.join();
t3.join();

Hi Malte, 

It appears that USB is unable to handle the data for three OPT8241-CDK modules simultaneously. Could you try using two cameras and confirm if they're running properly? 

Does reducing the frame rate help? Try a lower frame rate, like 10 fps or so. 

Suramya